Clutter filter design for ultrasound color flow imaging

For ultrasound color flow images with high quality, it is important to suppress the clutter signals originating from stationary and slowly moving tissue sufficiently. Without sufficient clutter rejection, low velocity blood flow cannot be measured, and estimates of higher velocities will have a large bias. The small number of samples available (8 to 16) makes clutter filtering in color flow imaging a challenging problem. In this paper, we review and analyze three classes of filters: finite impulse response (FIR), infinite impulse response (IIR), and regression filters. The quality of the filters was assessed based on the frequency response, as well as on the bias and variance of a mean blood velocity estimator using an autocorrelation technique. For FIR filters, the frequency response was improved by allowing a non-linear phase response. By estimating the mean blood flow velocity from two vectors filtered in the forward and backward direction, respectively, the standard deviation was significantly lower with a minimum phase filter than with a linear phase filter. For IIR filters applied to short signals, the transient part of the output signal is important. We analyzed zero, step, and projection initialization, and found that projection initialization gave the best filters. For regression filters, polynomial basis functions provide effective clutter suppression. The best filters from each of the three classes gave comparable bias and variance of the mean blood velocity estimates. However, polynomial regression filters and projection-initialized IIR filters had a slightly better frequency response than could be obtained with FIR filters     

Optimal velocity estimation in ultrasound color flow imaging in presence of clutter

In color flow imaging (CFI), the rejection of tissue clutter signal is treated separately from blood velocity estimation by high-pass filtering the received Doppler signal. The complete suppression of clutter is then difficult to achieve without affecting the subsequent velocity estimates. In this work, a different approach to velocity estimation is investigated, based on a statistical model of the signal from both clutter and blood. An analytic expression for the Cramer-Rao lower bound (CRLB) is developed, and used to determine the existence of an efficient maximum likelihood estimator (MLE) of blood velocity in CFI when assuming full knowledge of the clutter statistics. We further simulate and compare the performance of the MLE to that of the autocorrelation method (ACM) using finite-impulse response (FIR) and polynomial regression clutter filters. Two signal scenarios are simulated, representing a central and peripheral vessel. Simulations showed that, by including 3-9 (independent) spatial points, the MLE variance approached the CRLB in both scenarios. The ACM was approximately unbiased only for the central scenario in the clutter filter pass band, then with a variance of up to four times the CRLB. The ACM suffered from a severe bias in the filter transition region, and a significant performance gain was achieved here using the MLE. For practical use, the clutter properties must be estimated. We finally replaced the known clutter statistics with an estimate obtained from low-rank approximations of the received sample correlation matrix. Used in the model-based framework, this method came close to the performance of the MLE, and it may be an important step toward a practical model-based estimator, including tissue clutter with optimal performance.     

Adaptive clutter rejection for ultrasound color flow imaging based on recursive eigendecomposition

In the conventional eigenfilter used to reject clutter components of ultrasound color flow imaging, input samples are required to be statistically stationary. However, clutter movements may vary over the depth of the imaged area, which makes the eigenfilter less efficient. In the current study, a novel clutter rejection method is proposed based on the recursive eigendecomposition algorithm. In this method, the current eigenvector matrix of the ultrasound echo correlation matrix, which will be used to construct the clutter subspace, is determined by previous eigenvector matrices and the current input. After the estimated clutter signal is obtained by projecting the original input into the clutter space, each filtered output is eventually obtained by subtracting the estimated clutter signal from the original input. This procedure is iterated for each sample volume along the depth. During the updating process, a forgetting factor is introduced to determine proper weights for different inputs. Simulated data in 3 situations and in vivo data collected from human carotid arteries are used to compare the proposed method with other popular clutter filters. Results show that the proposed method can achieve the most accurate velocity profiles in all simulation situations and introduces the fewest velocity artifacts in the tissue region in the in vivo experiment.     

A new high resolution color flow system using an eigendecomposition-based adaptive filter for clutter rejection

We present a new signal processing strategy for high frequency color flow mapping in moving tissue environments. A new application of an eigendecomposition-based clutter rejection filter is presented with modifications to deal with high blood-to-clutter ratios (BCR). Additionally, a new method for correcting blood velocity estimates with an estimated tissue motion profile is detailed. The performance of the clutter filter and velocity estimation strategies is quantified using a new swept-scan signal model. In vivo color flow images are presented to illustrate the potential of the system for mapping blood flow in the microcirculation with external tissue motion.     

A new high resolution color flow system using an eigendecomposition-based adaptive filter for clutter rejection

We present a new signal processing strategy for high frequency color flow mapping in moving tissue environments. A new application of an eigendecomposition-based clutter rejection filter is presented with modifications to deal with high blood-to-clutter ratios (BCR). Additionally, a new method for correcting blood velocity estimates with an estimated tissue motion profile is detailed. The performance of the clutter filter and velocity estimation strategies is quantified using a new swept-scan signal model. In vivo color flow images are presented to illustrate the potential of the system for mapping blood flow in the microcirculation with external tissue motion.     

Real-time adaptive clutter rejection filtering in color flow imaging using power method iterations

We propose a new algorithm for real-time, adaptive-clutter-rejection filtering in ultrasound color flow imaging (CFI) and related techniques. The algorithm is based on regression filtering using eigenvectors of the signal correlation matrix as a basis for representing clutter, a method that previously has been considered too computationally demanding for real-time processing in general CFI applications. The data acquisition and processing scheme introduced allows for a more localized sampling of the clutter statistics and, therefore, an improved clutter attenuation for lower filter orders. By using the iterative power method technique, the dominant eigenvalues and corresponding eigenvectors of the correlation matrix can be estimated efficiently, rendering real-time operation feasible on desktop computers. A new adaptive filter order algorithm is proposed that successfully estimates the proper dimension of the clutter basis, previously one of the major drawbacks of this clutter-rejection technique. The filter algorithm performance and computational demands has been compared to that of conventional clutter filters. Examples have been included which confirms that, by adapting the clutter-rejection filter to estimates of the clutter-signal statistics, improved attenuation of the clutter signal can be achieved in normal as well as more excessive cases of tissue movement and acceleration.     

Ultrasound doppler measurements of low velocity blood flow:limitations due to clutter signals from vibrating muscles

Skeletal muscles vibrate under sustained contraction, and generate low frequency side band clutter in the doppler signal. Both shivering in the hand of the operator and muscle vibrations in the patient itself give rise to the clutter. Clutter rejection filters are commonly used to remove the low frequency components, but the doppler signal from low velocity blood flow is then also lost. This paper describes a model for the pulsed wave (PW) doppler signal from vibrating muscles, reviews a model for the PW doppler signal from moving blood, and by comparing these models presents a theoretical minimum for detectable blood velocity in small vessels, being typically 6.4 mm/s for 6 MHz doppler. The limit has a nonlinear relation to the ultrasound frequency. The model also shows that the radial component of the muscle vibrations can be estimated from the phase of the doppler signal     

Adaptive clutter filtering based on sparse component analysis in ultrasound color flow imaging

An adaptive method based on the sparse component analysis is proposed for stronger clutter filtering in ultrasound color flow imaging (CFI). In the present method, the focal underdetermined system solver (FOCUSS) algorithm is employed, and the iteration of the algorithm is based on weighted norm minimization of the dependent variable with the weights being a function of the preceding iterative solutions. By finding the localized energy solution vector representing strong clutter components, the FOCUSS algorithm first extracts the clutter from the original signal. However, the different initialization of the basis function matrix has an impact on the filtering performance of FOCUSS algorithms. Thus, 2 FOCUSS clutter- filtering methods, the original and the modified, are obtained by initializing the basis function matrix using a predetermined set of monotone sinusoids and using the discrete Karhunen-Loeve transform (DKLT) and spatial averaging, respectively. Validation of 2 FOCUSS filtering methods has been performed through experimental tests, in which they were compared with several conventional clutter filters using simplistic simulated and gathered clinical data. The results demonstrate that 2 FOCUSS filtering methods can follow signal varying adaptively and perform clutter filtering effectively. Moreover, the modified method may obtain the further improved filtering performance and retain more blood flow information in regions close to vessel walls.     

Isomorphism between pulsed-wave Doppler ultrasound anddirection-of-arrival estimation. I. Basic principles

Direction-of-arrival (DOA) estimation of signals is an important area of research in sonar and radar signal processing. Over the last few decades, numerous techniques have been developed for high-resolution DOA estimation. In this paper, we show that velocity measurement using pulsed-wave Doppler ultrasound and DOA estimation are isomorphic problems. We discuss a number of DOA methods and their potential application to flow velocity measurement using ultrasound. Wide-band DOA methods are of special interest because the pulses used for Doppler ultrasound are also wide band. These wide-band methods generally involve a preprocessing step to convert wideband signals to narrow band before applying high-resolution techniques. Application of DOA methods to Doppler ultrasound provides tools for high-resolution velocity measurement, identification of multiple velocity components within a sample volume, and clutter rejection     

Graphics Processing Unit-Based High-Frame-Rate Color Doppler Ultrasound Processing

Color Doppler ultrasound is a routinely used diagnostic tool for assessing blood flow information in real time. The required signal processing is computationally intensive, involving autocorrelation, linear filtering, median filtering, and thresholding. Because of the large amount of data and high computational requirement, color Doppler signal processing has been mainly implemented on custom-designed hardware, with software-based implementation - particularly on a general- purpose CPU - not being successful. In this paper, we describe the use of a graphics processing unit for implementing signal-processing algorithms for color Doppler ultrasound that achieves a frame rate of 160 fps for frames comprising 500 scan lines times 128 range samples, with each scan line being obtained from an ensemble size of 8 with an 8-tap FIR clutter filter.     

Adaptive clutter rejection filtering in ultrasonic strain-flow imaging

This paper introduces strain-flow imaging as a potential new technique for investigating vascular dynamics and tumor biology. The deformation of tissues surrounding pulsatile vessels and the velocity of fluid in the vessel are estimated from the same data set. The success of the approach depends on the performance of a digital filter that must separate echo signal components caused by flow from tissue motion components that vary spatially and temporally. Eigenfilters, which are an important tool for naturally separating signal components adaptively throughout the image, perform very well for this task. The method is examined using two tissue-mimicking flow phantoms that provide stationary and moving clutter associated with pulsatile flow.     

经验模态分解和空间滤波在两相流速度测量中的应用

在利用空间滤波和电容传感器测量两相流速度时,需要准确测量电容传感器输出信号的带宽.针对此问题提出一种利用经验模态分解算法来测量传感器带宽的方法.文章首先介绍电容传感器的空间滤波效应和经验模态分解的基本原理,并给出固体速度和电容传感器输出信号带宽之间的关系.然后将经验模态分解和平滑滤波器结合对测量信号进行平滑处理,测量处...     

A new time-domain narrowband velocity estimation technique for Doppler ultrasound flow imaging. II. Comparative performance assessment

For pt.I see ibid., vol.45, no.4, pp.939-54 (1998). The statistical performance of the new 2-D narrowband time-domain root-MUSIC blood velocity estimator described previously is evaluated using both simulated and flow phantom wideband (50% fractional bandwidth) ultrasonic data. Comparisons are made with the standard 1-D Kasai estimator and two other wideband strategies: the time domain correlator and the wideband point maximum likelihood estimator. A special case of the root-MUSIC, the "spatial" Kasai, is also considered. Simulation and flow phantom results indicate that the root-MUSIC blood velocity estimator displays a superior ability to reconstruct spatial blood velocity information under a wide range of operating conditions. The root-MUSIC mode velocity estimator can be extended to effectively remove the clutter component from the sample volume data. A bimodal velocity estimator is formed by processing the signal subspace spanned by the eigenvectors corresponding to the two largest eigenvalues of the Doppler correlation matrix. To test this scheme, in vivo common carotid flow complex Doppler data was obtained from a commercially available color flow imaging system. Velocity estimates were made using a reduced form of this data corresponding to higher frame rates. The extended root-MUSIC approach was found to produce superior results when compared to both 1- and 2-D Kasai-type estimators that used initialized clutter filters. The results obtained using simulated, flow phantom, and in vivo data suggest that increased sensitivity as well as effective clutter suppression can be achieved using the root-MUSIC technique, and this may be particularly important for wideband high frame rate imaging applications.     

Knowledge-based recursive least squares techniques for heterogeneous clutter suppression

The design of knowledge-based adaptive algorithms has been dealt with for the cancellation of heterogeneous clutter. To this end, the application of the recursive least squares (RLS) technique has been revisited for the rejection of unwanted clutter, and modified RLS filtering procedures have been devised accounting for the spatial variation of the clutter power as well as of the disturbance covariance persymmetry property. Then the authors introduce the concept of knowledge-based RLS and explain how the a priori knowledge about the radar operating environment can be adopted for improving the system performance. Finally, the authors assess the benefits resulting from the use of knowledge-based processing both on simulated and on measured clutter data collected by the McMaster IPIX radar in November 1993     

On the performance of regression and step-initialized IIR clutterfilters for color Doppler systems in diagnostic medical ultrasound

One of the major issues in color Doppler ultrasound is the suppression of clutter that arises from stationary or slowly moving tissue. If not adequately suppressed, clutter can severely affect the ability of color Doppler systems to accurately estimate the Doppler mean frequency and power of blood, resulting in a potentially misleading depiction of flow. In this study, the performances of two classes of clutter suppression techniques-step-initialized infinite impulse response (IIR) and regression filters-were evaluated and compared by means of extensive simulations. The performance indicators used were the accuracy and precision of the mean frequency and the power estimates after clutter filtering. In summary, the ability of both filter classes to suppress clutter was found to vary considerably depending on factors such as the clutter-to-flow-signal ratio and the ensemble length. In particular, the performance of step-initialized IIR filters was shown to be noticeably inferior to that predicted by their steady-state response. Regression filters were found to offer significantly better performance than step-initialized IIR filters under heavy clutter conditions and, given their steeper roll-off, appear to be more effective clutter suppressors for power Doppler imaging. However, it should be noted that, as demonstrated by the simulations, the performance of IIR filters is severely degraded by their transient response which, in turn, is determined by the initialization scheme used. Therefore, more elaborate schemes-with superior transient characteristics than step-initialization-could significantly improve the effectiveness of IIR filtering under heavy clutter conditions     

Clutter rejection filters in color flow imaging: a theoretical approach

A general class of linear clutter rejection filters is described, covering the commonly used filter types including FIR/IIR filters with linear initialization, as well as regression filters, where the clutter component is estimated by least square curve fitting. The filter can be described by a complex valued matrix, and a frequency response is defined. However, in contrast to a time invariant filter, the general linear filter may create frequency components which are not present in the input signal. This produces bias in the velocity and velocity spread estimates. It is shown that the clutter filter effect on the autocorrelation estimates can be described by a frequency domain transfer function, but unlike time invariant filters, the transfer function is different for each temporal lag of the autocorrelation function. Using a two dimensional (axial and temporal dimension) model of the received signal, the bias in velocity and velocity spread is quantified, both for the autocorrelation algorithm and the time shift cross-correlation estimator. Theoretical expressions, as well as numerical examples are given.     

Multiple-input multiple-output over-thehorizon radar: experimental results

Results from an experiment that applied one class of multiple-input multiple-output (MIMO) waveform techniques to over-the-horizon radar (OTHR) are reported. The experiment objective was to demonstrate that adaptive transmitter beamforming could be used in an appropriately design radar to reject spatially discrete Doppler-spread clutter. In the particular MIMO radar architecture that the authors call non-causal transmit beamforming, conventional or adaptive transmitter beamforming occurs following waveform transmission, propagation, scatter from targets and clutter sources, return propagation and finally signal reception. In the case reported herein spatially discrete clutter was successfully rejected to the noise floor of the radar return with rejection in excess of 35 dB achieved using common adaptive algorithms and straightforward training data selection. As part of the rejection algorithm the transmitted waveform direction-of-departure (DOD) from the transmitter array to the target was estimated and used as the preserved steer direction in the adaptive beamformer. The DOD estimates agree well with the geometrically determined true values. The demonstration of non-causal transmit beamforming suggests that it will be possible to create multiple simultaneous adaptive range-dependent transmitter beams with an appropriately designed OTHR. This has several applications including for the mitigation of Doppler-spread clutter.     

Single-ensemble-based eigen-processing methods for color flow imaging--Part I. The Hankel-SVD filter

Because of their adaptability to the slow-time signal contents, eigen-based filters have shown potential in improving the flow detection performance of color flow images. This paper proposes a new eigen-based filter called the Hankel-SVD filter that is intended to process each slowtime ensemble individually. The new filter is derived using the notion of principal Hankel component analysis, and it achieves clutter suppression by retaining only the principal components whose order is greater than the clutter eigen-space dimension estimated from a frequency based analysis algorithm. To assess its efficacy, the Hankel-SVD filter was first applied to synthetic slow-time data (ensemble size: 10) simulated from two different sets of flow parameters that model: 1) arterial imaging (blood velocity: 0 to 38.5 cm/s, tissue motion: up to 2 mm/s, transmit frequency: 5 MHz, pulse repetition period: 0.4 ms) and 2) deep vessel imaging (blood velocity: 0 to 19.2 cm/s, tissue motion: up to 2 cm/s, transmit frequency: 2 MHz, pulse repetition period: 2.0 ms). In the simulation analysis, the post-filter clutter-to- blood signal ratio (CBR) was computed as a function of blood velocity. Results show that for the same effective stopband size (50 Hz), the Hankel-SVD filter has a narrower transition region in the post-filter CBR curve than that of another type of adaptive filter called the clutter-downmixing filter. The practical efficacy of the proposed filter was tested by application to in vivo color flow data obtained from the human carotid arteries (transmit frequency: 4 MHz, pulse repetition period: 0.333 ms, ensemble size: 10). The resulting power images show that the Hankel-SVD filter can better distinguish between blood and moving-tissue regions (about 9 dB separation in power) than the clutter-downmixing filter and a fixed-rank multi ensemble-based eigen-filter (which showed a 2 to 3 dB separation).     

Approximate Cramer-Rao bound on Doppler error in correlation-processing relatively narrowband noise radar

Limitations on accuracy of Doppler estimation in continuous-wave noise radar with correlation processing are studied. Second-order properties of output of the correlation receiver are evaluated and an approximate Cramer-Rao bound on errors of Doppler measurement is derived. The accuracy of Doppler measurements is found to be affected by the following factors: power spectral density of noise signal, frequency response of the low-pass filter in correlator, observation time, velocity of the target and signal to noise ratio. It is shown that the random nature of the transmitted signal induces additional fluctuations at the output of correlator which limit the accuracy even in the infinite signal to noise case. Qualitative extension of the results to a case covering multiple targets and clutter is made. It is argued that the performance will decrease and that increasing transmitted power may not provide significant improvement when clutter is present.     

Extraction of mixed-order multicomponent ship target signals from broadened sea clutter in bistatic shipborne surface wave radar

A dynamic geometry model was built to describe the Doppler-broadening characteristics of the first-order Bragg lines for bistatic shipborne surface wave radar. They are time-varying because the Doppler frequency shifts of sea echoes are simultaneously modulated by the velocity components projected from the unavoidably different motions of both platforms, which is more complex than its counterpart in the monostatic mode. The geometrical relation is used to obtain the received signal model: strong first-order sea clutter interferences and submerged ship targets with constant and non-constant speeds are considered as mixed-order multicomponent polynomial-phase signals (mc-PPSs) and both second-order sea clutter continuum and atmospheric noise as additive noise. Then, a scheme based on the product high-order ambiguity function is proposed to extract the targets; it is a recursive procedure in which the first-order sea clutter is removed by an existing time-space cascaded filtering method. Monte Carlo simulations show the validity and efficiency of the proposed scheme.